61 { nMeasurements = 0; nOutliers = 0;}
86 {
return(c<rhs.
c ||(c==rhs.
c && p < rhs.
p)); }
110 int AddCamera(
SE3<> se3CamFromWorld,
bool bFixed);
112 void AddMeas(
int nCam,
int nPoint,
Vector<2> v2Pos,
double dSigmaSquared);
113 int Compute(
bool *pbAbortSignal);
116 SE3<> GetCamera(
int n);
117 std::vector<std::pair<int,int> > GetOutlierMeasurements();
118 std::set<int> GetOutliers();
122 inline void ProjectAndFindSquaredError(
Meas &meas);
123 template<
class MEstimator>
bool Do_LM_Step(
bool *pbAbortSignal,
double *lastMdSigmaSquared);
124 template<
class MEstimator>
double FindNewError();
125 void GenerateMeasLUTs();
126 void GenerateOffDiagScripts();
127 void ClearAccumulators();
128 void ModifyLambda_GoodStep();
129 void ModifyLambda_BadStep();
bool operator<(const Meas &rhs) const
double mgvdUpdateConvergenceLimit
Everything lives inside this namespace.
std::list< Meas > mMeasList
std::vector< Camera > mvCameras
std::vector< OffDiagScriptEntry > vOffDiagonalScript
std::vector< ExtendedMapPoint > mvPoints
std::vector< std::pair< int, int > > mvOutlierMeasurementIdx
std::vector< std::vector< Meas * > > mvMeasLUTs